Didn't Top Gear Overdrive (1998) use MP3 tracks? It had several tracks by Grindstone that would play during races. The audio quality isn't that great but lyrics are mostly comprehendible.

https://www.youtube.com/watch?v=kyXsWd7DpEs

Wipeout 64 had some music by Fluke and Propellerheads but I'm pretty sure it used some tracker format to re-create the tracks from short recordings and honestly, they sound awful, not just because the audio quality but because the repetitiveness and lack of progression.